/*
 * Copyright 2017 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_SENSOR_TIMED_POINT_CLOUD_DATA_H_
#define CARTOGRAPHER_SENSOR_TIMED_POINT_CLOUD_DATA_H_

#include "Eigen/Core"
#include "cartographer/common/time.h"
#include "cartographer/sensor/point_cloud.h"

namespace cartographer
{
    namespace sensor
    {

        struct TimedPointCloudData
        {
            common::Time time;
            Eigen::Vector3f origin;
            TimedPointCloud ranges;
            // 'intensities' has to be same size as 'ranges', or empty.
            std::vector<float> intensities;
        };

        struct TimedPointCloudOriginData
        {
            struct RangeMeasurement
            {
                TimedRangefinderPoint point_time;
                float intensity;
                size_t origin_index;
            };
            common::Time time;
            std::vector<Eigen::Vector3f> origins;
            std::vector<RangeMeasurement> ranges;
        };

        // Converts 'timed_point_cloud_data' to a proto::TimedPointCloudData.
        proto::TimedPointCloudData ToProto(const TimedPointCloudData &timed_point_cloud_data);

        // Converts 'proto' to TimedPointCloudData.
        TimedPointCloudData FromProto(const proto::TimedPointCloudData &proto);

    } // namespace sensor
} // namespace cartographer

#endif // CARTOGRAPHER_SENSOR_TIMED_POINT_CLOUD_DATA_H_
